Kalman Filtering Method for GNSS / INS Integrated Navigation
نویسندگان
چکیده
منابع مشابه
GPS/INS Integration for Vehicle Navigation based on INS Error Analysis in Kalman Filtering
The Global Positioning System (GPS) and an Inertial Navigation System (INS) are two basic navigation systems. Due to their complementary characters in many aspects, a GPS/INS integrated navigation system has been a hot research topic in the recent decade. The Micro Electrical Mechanical Sensors (MEMS) successfully solved the problems of price, size and weight with the traditional INS. Therefore...
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Kalman filter (KF) uses measurement updates to correct system states error and to limit the errors in navigation solutions. However, only when the system dynamic and measurement models are correctly defined, and the noise statistics for the process are completely known, KF can optimally estimate a system’s states. Without measurement updates, Kalman filter’s prediction diverges; therefore the p...
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Dr Jinling Wang is a Senior Lecturer in the School of Surveying & Spatial Information Systems, UNSW. He is a Fellow of the Royal Institute of Navigation, UK, and a Fellow of the International Association of Geodesy (IAG). Jinling is a member of the Editorial Board for the international journal GPS Solutions, and was Chairman of the study group (2003-2007) on pseudolite applications in positioni...
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The use of the direct filtering approach for INS/GNSS integrated navigation introduces nonlinearity into the system state equation. As the unscented Kalman filter (UKF) is a promising method for nonlinear problems, an obvious solution is to incorporate the UKF concept in the direct filtering approach to address the nonlinearity involved in INS/GNSS integrated navigation. However, the performanc...
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In order to achieve continuous navigation capability in areas such as tunnels, urban canyons, and indoors a new approach using least squares support vector machine LS-SVM and H∞ filter HF for integration of INS/WSN is proposed. In the integrated system, HF estimates the errors of position and velocity while the signals in WSNs are available. Meanwhile, the compensation model is trained by LS-SV...
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ژورنال
عنوان ژورنال: DEStech Transactions on Engineering and Technology Research
سال: 2017
ISSN: 2475-885X
DOI: 10.12783/dtetr/iceea2016/6640